CN111846133A - Two-stage stability-increasing unmanned water platform and using method thereof - Google Patents
Two-stage stability-increasing unmanned water platform and using method thereof Download PDFInfo
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- CN111846133A CN111846133A CN202010840680.3A CN202010840680A CN111846133A CN 111846133 A CN111846133 A CN 111846133A CN 202010840680 A CN202010840680 A CN 202010840680A CN 111846133 A CN111846133 A CN 111846133A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 209
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000007921 spray Substances 0.000 claims abstract description 51
- 238000012544 monitoring process Methods 0.000 claims abstract description 24
- 239000003381 stabilizer Substances 0.000 claims abstract description 22
- 230000003416 augmentation Effects 0.000 claims abstract description 19
- 238000013016 damping Methods 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
- B63H11/04—Marine propulsion by water jets the propulsive medium being ambient water by means of pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
A two-stage stability augmentation unmanned water platform and a using method thereof, wherein the platform comprises a ship body, a deck, a stability augmentation device, a tail pusher and a pump jet propeller; the deck is positioned above the ship body, and a damping spring is arranged between the deck and the ship body and is connected with the deck through a stabilizer; the tail pusher is arranged at the tail part of the ship body; the pump-jet propellers are positioned on the left side and the right side of the ship body, and two pump-jet propellers are respectively distributed on each side of the ship body; a horizontal sensor and a monitoring camera are arranged inside the deck; the inside of the ship body is provided with a satellite navigator and a hydrological detector. The platform using method comprises the following steps: when the wind speed is low and the sea waves are small, the deck is controlled by the stabilizer to keep a dynamic level; when the wind speed is high and the sea waves are large, the pump jet propeller is matched with the stabilizer to realize secondary stability augmentation and control the deck to keep the dynamic level; when the platform needs to move forwards, the pump jet propeller sprays water backwards and is matched with the tail propeller; when the platform needs to move laterally, the pump jet propeller sprays water laterally on one side; when the platform needs to turn on site, the pump jet propeller at the diagonal line sprays water laterally.
Description
Technical Field
The invention belongs to the technical field of unmanned ships, and particularly relates to a two-stage stability-increasing type unmanned water platform and a using method thereof.
Background
Along with the development of the national ocean strategy, scientific detection, resource exploration, offshore tests and the like are more and more frequent, and when the variable ocean wind direction and wave impact are faced, most ships only swing along with the waves, so that the decks of the ships cannot be kept horizontal, and great difficulty is brought to the test and detection work on the decks.
Therefore, the chinese patent application with publication number CN107128463A discloses a platform for increasing stability by using a catamaran, but the platform in the patent application adopts a single-side hydraulic damping and stability increasing mode, and the adjustment range is too small, so that the platform can be maintained stable only under the conditions of low wind speed and small sea waves, and once the wind speed is high and the sea waves are large, the stability increasing effect is increasingly poor.
Further, chinese patent application No. CN111301627A discloses a self-adaptive stabilizing platform for a ship hull with energy supply, but the platform in this patent application has a small stabilizing deck, and the stabilizing mechanism used therein is located on one side of the platform and can only bear a small load, so that the application range is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a two-stage stability-increasing unmanned water platform and a using method thereof, which can not only maintain the stability of the platform under the conditions of low wind speed and small sea waves, but also keep the deck horizontal under the conditions of high wind speed and large sea waves, and the whole platform also has the moving capabilities of forward movement, lateral movement and in-situ turning.
In order to achieve the purpose, the invention adopts the following technical scheme: a two-stage stability augmentation type unmanned water platform comprises a ship body, a deck, a stability augmentation device, a tail thruster and a pump jet thruster; the deck is positioned above the ship body, the deck is connected with the ship body through the stabilizer, the damping springs are arranged between the deck and the ship body, the number of the stabilizers is four, and the four stabilizers are uniformly distributed at four corners of the deck; the tail thrusters are arranged at the tail part of the ship body, the number of the tail thrusters is two, and the two tail thrusters are uniformly distributed on the left and right; the pump-jet propellers are positioned on the left side and the right side of the ship body, the number of the pump-jet propellers is four, and two pump-jet propellers are distributed on the left side and the right side of the ship body respectively; a horizontal sensor and a monitoring camera are arranged inside the deck; and a satellite navigator and a hydrological detector are arranged in the ship body.
The stabilizer comprises a hydraulic telescopic rod, a universal ball joint base, a universal ball joint lug seat and an adapter plate; the number of the hydraulic telescopic rods is three, and the number of the universal ball joint bases is three; the adapter plate is fixedly connected to the lower surface of the deck, and the universal ball joint lug is arranged on the lower surface of the adapter plate; the upper ends of the three hydraulic telescopic rods are connected to the universal ball joint lug seats, and the lower ends of the three hydraulic telescopic rods are connected with the upper surface of the ship body through universal ball joint bases respectively.
The pump jet propeller comprises an engine, a water inlet pipe, a pump jet pipe and a vector jet pipe assembly; the engine, the water inlet pipe and the pump spray pipe are all positioned in the ship body, a water inlet is formed in the bottom of the ship body, one end of the water inlet pipe is hermetically communicated with the water inlet, the other end of the water inlet pipe is hermetically communicated with the water inlet end of the pump spray pipe, and a pump spray propeller is arranged in the pump spray pipe; the engine is positioned above the water inlet pipe, and a power output shaft of the engine penetrates through the pipe wall of the water inlet pipe in a sealing manner to be connected with the pump jet propeller in the pump jet pipe; the vector spray pipe assembly comprises a first water outlet pipe, a second water outlet pipe, a corrugated water outlet pipe, a hydraulic driving cylinder and a driving motor; the first water outlet pipe penetrates through the side wall of the ship body in a sealing mode, the inner end of the first water outlet pipe is communicated with the water outlet end of the pump spray pipe in a sealing mode, and the first water outlet pipe has rotation freedom degree relative to the pump spray pipe; an outer gear ring is fixedly sleeved on the first water outlet pipe body on the inner side of the ship body, the driving motor is fixedly arranged on the outer surface of the pipe body of the pump spray pipe, a gear is fixedly arranged on a motor shaft of the driving motor, and the gear is meshed with the outer gear ring; the end part of the first water outlet pipe positioned outside the ship body is in sealed communication with one end of the corrugated water outlet pipe, the other end of the corrugated water outlet pipe is in sealed communication with one end of the second water outlet pipe, and the other end of the second water outlet pipe is a free end; one end of the hydraulic driving cylinder is hinged to the outer surface of the pipe body of the first water outlet pipe located on the outer side of the ship body, and the other end of the hydraulic driving cylinder is hinged to the outer surface of the pipe body of the second water outlet pipe.
Four monitoring camera mounting grooves are uniformly distributed on the periphery of the deck, and a monitoring camera is arranged in each monitoring camera mounting groove; an electric lifting column is vertically arranged at the bottom of the monitoring camera mounting groove, a tripod head is arranged at the top of the electric lifting column, and the monitoring camera is mounted on the tripod head; and a sliding insertion type closing plate is arranged at the notch of the monitoring camera mounting groove.
The use method of the two-stage stability augmentation type unmanned water platform comprises the following steps:
when the wind speed is low and the sea waves are small
The method comprises the following steps: detecting the levelness of the deck in real time through a level sensor;
step two: controlling a hydraulic telescopic rod in the stabilizer to perform telescopic action according to the levelness data so as to adjust the relative position of the deck and the ship body and further keep the deck in a dynamic level state;
② when the wind speed is higher and the sea wave is larger
The method comprises the following steps: controlling a piston rod of the hydraulic driving cylinder to retract, so that the first water outlet pipe and the second water outlet pipe are in a vertical state;
step two: starting a driving motor to drive a gear to rotate, driving an outer gear ring to rotate through the gear, and driving a first water outlet pipe to rotate through the outer gear ring until a pipe orifice at the free end of a second water outlet pipe is in a downward state;
step three: detecting the levelness of the deck in real time through a level sensor;
step four: starting an engine according to the levelness data to drive a pump spray propeller in a pump spray pipe to rotate, wherein in the rotating process of the pump spray propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump spray pipe, a first water outlet pipe and a corrugated water outlet pipe, and finally is sprayed out from a free end pipe orifice of a second water outlet pipe, and the relative horizontal position of a ship body is adjusted through the reaction force of water spraying;
step five: controlling a hydraulic telescopic rod in the stability augmentation device to perform telescopic action according to the levelness data so as to adjust the relative position of the deck and the ship body, and finally keeping the deck in a dynamic level under the action of secondary stability augmentation while adjusting the relative horizontal position of the ship body;
thirdly, when the platform needs to move forwards
The method comprises the following steps: controlling a piston rod of the hydraulic driving cylinder to retract, so that the first water outlet pipe and the second water outlet pipe are in a vertical state;
step two: starting a driving motor to drive a gear to rotate, driving an outer gear ring to rotate through the gear, and driving a first water outlet pipe to rotate through the outer gear ring until a pipe orifice at the free end of a second water outlet pipe is in a horizontal backward state;
step three: starting an engine to drive a pump jet propeller in a pump jet pipe to rotate, wherein in the rotating process of the pump jet propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump jet pipe, a first water outlet pipe and a corrugated water outlet pipe, and finally is sprayed out from a free end pipe orifice of a second water outlet pipe, and simultaneously starting a tail pusher, and the tail pusher and the pump jet propeller jointly provide thrust for forward movement of a platform;
fourthly, when the platform needs to move laterally
The method comprises the following steps: only controlling a piston rod of a hydraulic driving cylinder on the left side or the right side of the ship body to extend out, so that the first water outlet pipe and the second water outlet pipe are in a coaxial state;
step two: starting an engine to drive a pump spray propeller in a pump spray pipe to rotate, wherein in the rotating process of the pump spray propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump spray pipe, a first water outlet pipe and a corrugated water outlet pipe, and is finally sprayed out from a free end pipe orifice of a second water outlet pipe, and the pump spray propellers on the left side or the right side of a ship body jointly provide thrust for the left or right movement of a platform;
fifthly, when the platform needs to turn on site
The method comprises the following steps: only the piston rods of the hydraulic driving cylinders at the diagonal lines of the left side and the right side of the ship body are controlled to extend out, so that the first water outlet pipe and the second water outlet pipe are in a coaxial state;
step two: the engine is started to drive the pump jet propeller in the pump jet pipe to rotate, and in the rotating process of the pump jet propeller, water enters the water inlet pipe from the water inlet, then sequentially passes through the pump jet pipe, the first water outlet pipe and the corrugated water outlet pipe, and is finally sprayed out from the free end pipe orifice of the second water outlet pipe, and lateral thrust is provided by the pump jet propellers at the diagonal positions of the left side and the right side of the ship body together, so that the platform can be turned in place.
The invention has the beneficial effects that:
the two-stage stability-increasing unmanned water platform and the use method thereof can maintain the stability of the platform under the conditions of low wind speed and small sea waves, can keep the deck horizontal under the conditions of high wind speed and large sea waves, and have the moving capabilities of forward movement, lateral movement and in-situ turning.
Drawings
Fig. 1 is a schematic structural view of a two-stage stability augmentation unmanned water platform (with a monitoring camera in a raised state and a first view angle) according to the present invention;
fig. 2 is a schematic structural view of a two-stage stability-enhanced unmanned water platform (a schematic structural view of a first viewing angle and a monitoring camera in a retracted state) according to the present invention;
fig. 3 is a schematic structural view of a two-stage stability augmentation unmanned water platform (a schematic structural view of a pump jet propeller in a side jet state) according to the present invention;
FIG. 4 is a schematic structural view of the pump jet propeller of the present invention (with the free end of the second outlet pipe facing downward);
FIG. 5 is a schematic view of the pump jet propeller of the present invention (with the free end of the second outlet tube facing backwards);
FIG. 6 is a schematic structural view of the pump jet propeller of the present invention (the free end of the second outlet pipe is facing to the side);
FIG. 7 is a schematic structural diagram of the stabilizer of the present invention;
FIG. 8 is a schematic view of the assembly of the surveillance camera, the pan/tilt head and the electric lifting column of the present invention;
in the figure, 1-ship body, 2-deck, 3-stabilizer, 4-tail pusher, 5-pump jet propeller, 6-surveillance camera, 7-hydraulic telescopic rod, 8-universal ball joint base, 9-universal ball joint base, 10-adapter plate, 11-engine, 12-water inlet pipe, 13-pump jet pipe, 14-water inlet, 15-first water outlet pipe, 16-second water outlet pipe, 17-corrugated water outlet pipe, 18-hydraulic driving cylinder, 19-driving motor, 20-external gear ring, 21-gear, 22-surveillance camera mounting groove, 23-electric lifting column, 24-cloud platform, 25-sliding plug-in type sealing plate.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 8, a two-stage stability augmentation unmanned water platform comprises a hull 1, a deck 2, a stability augmentation device 3, a tail thruster 4 and a pump jet propeller 5; the deck 2 is positioned above the ship body 1, the deck 2 is connected with the ship body 1 through the stabilizers 3, the damping springs are arranged between the deck 2 and the ship body 1, the number of the stabilizers 3 is four, and the four stabilizers 3 are uniformly distributed at four corners of the deck 2; the tail thrusters 4 are arranged at the tail part of the ship body 1, the number of the tail thrusters 4 is two, and the two tail thrusters 4 are uniformly distributed on the left and right; the pump-jet propellers 5 are positioned on the left side and the right side of the ship body 1, the number of the pump-jet propellers 5 is four, and two pump-jet propellers 5 are distributed on the left side and the right side of the ship body 1 respectively; a level sensor and a monitoring camera 6 are arranged inside the deck 2; a satellite navigator and a hydrological detector are arranged in the ship body 1.
The stabilizer 3 comprises a hydraulic telescopic rod 7, a universal ball joint base 8, a universal ball joint lug seat 9 and an adapter plate 10; the number of the hydraulic telescopic rods 7 is three, and the number of the universal ball joint bases 8 is three; the adapter plate 10 is fixedly connected to the lower surface of the deck 2, and the universal ball lug seat 9 is arranged on the lower surface of the adapter plate 10; the upper ends of the three hydraulic telescopic rods 7 are connected to universal ball joint lug seats 9, and the lower ends of the three hydraulic telescopic rods 7 are connected with the upper surface of the ship body 1 through universal ball joint bases 8 respectively.
The pump jet propeller 5 comprises an engine 11, a water inlet pipe 12, a pump jet pipe 13 and a vector jet pipe assembly; the engine 11, the water inlet pipe 12 and the pump spray pipe 13 are all positioned in the ship body 1, a water inlet 14 is formed in the bottom of the ship body 1, one end of the water inlet pipe 12 is hermetically communicated with the water inlet 14, the other end of the water inlet pipe 12 is hermetically communicated with the water inlet end of the pump spray pipe 13, and a pump spray propeller is arranged in the pump spray pipe 13; the engine 11 is positioned above the water inlet pipe 12, and a power output shaft of the engine 11 penetrates through the pipe wall of the water inlet pipe 12 in a sealing manner to be connected with a pump spray propeller in the pump spray pipe 13; the vector spray pipe assembly comprises a first water outlet pipe 15, a second water outlet pipe 16, a corrugated water outlet pipe 17, a hydraulic driving cylinder 18 and a driving motor 19; the first water outlet pipe 15 penetrates through the side wall of the ship body 1 in a sealing mode, the inner end of the first water outlet pipe 15 is communicated with the water outlet end of the pump spray pipe 13 in a sealing mode, and the first water outlet pipe 15 has a rotation degree of freedom relative to the pump spray pipe 13; an outer gear ring 20 is fixedly sleeved on a pipe body of a first water outlet pipe 15 on the inner side of the ship body 1, the driving motor 19 is fixedly arranged on the outer surface of the pipe body of the pump spray pipe 13, a gear 21 is fixedly arranged on a motor shaft of the driving motor 19, and the gear 21 is meshed with the outer gear ring 20; the end part of a first water outlet pipe 15 positioned outside the ship body 1 is in sealed communication with one end of a corrugated water outlet pipe 17, the other end of the corrugated water outlet pipe 17 is in sealed communication with one end of a second water outlet pipe 16, and the other end of the second water outlet pipe 16 is a free end; one end of the hydraulic driving cylinder 18 is hinged to the outer surface of the pipe body of the first water outlet pipe 15 located on the outer side of the ship body 1, and the other end of the hydraulic driving cylinder 18 is hinged to the outer surface of the pipe body of the second water outlet pipe 16.
Four monitoring camera installation grooves 22 are uniformly distributed on the periphery of the deck 2, and a monitoring camera 6 is arranged in each monitoring camera installation groove 22; an electric lifting column 23 is vertically arranged at the bottom of the monitoring camera mounting groove 21, a pan-tilt 24 is arranged at the top of the electric lifting column 23, and the monitoring camera 6 is mounted on the pan-tilt 24; and a sliding insertion type closing plate 25 is arranged at the notch of the monitoring camera mounting groove 22.
The use method of the two-stage stability augmentation type unmanned water platform comprises the following steps:
when the wind speed is low and the sea waves are small
The method comprises the following steps: detecting the levelness of the deck 2 in real time through a level sensor;
step two: controlling a hydraulic telescopic rod 7 in the stabilizer 3 to perform telescopic action according to the levelness data so as to adjust the relative position of the deck 2 and the hull 1 and further keep the deck 2 in a dynamic level;
② when the wind speed is higher and the sea wave is larger
The method comprises the following steps: controlling the retraction of a piston rod of the hydraulic driving cylinder 18 to enable the first water outlet pipe 15 and the second water outlet pipe 16 to be in a vertical state;
step two: starting a driving motor 19 to drive a gear 21 to rotate, driving an outer gear ring 20 to rotate through the gear 21, and driving a first water outlet pipe 15 to rotate through the outer gear ring 20 until a pipe orifice at the free end of a second water outlet pipe 16 is in a downward state;
step three: detecting the levelness of the deck 2 in real time through a level sensor;
step four: starting the engine 11 according to the levelness data to drive the pump spray propeller in the pump spray pipe 13 to rotate, wherein in the rotation process of the pump spray propeller, a water body enters the water inlet pipe 12 from the water inlet 14, then sequentially passes through the pump spray pipe 13, the first water outlet pipe 15 and the corrugated water outlet pipe 17, and finally is sprayed out from the free end pipe orifice of the second water outlet pipe 16, and the relative horizontal position of the ship body 1 is adjusted through the reaction force of water spraying;
step five: controlling a hydraulic telescopic rod 7 in the stabilizer 3 to perform telescopic action according to the levelness data so as to adjust the relative position of the deck 2 and the ship body 1, and finally keeping the deck 2 in a dynamic level under the action of secondary stabilization while adjusting the relative horizontal position of the ship body 1;
thirdly, when the platform needs to move forwards
The method comprises the following steps: controlling the retraction of a piston rod of the hydraulic driving cylinder 18 to enable the first water outlet pipe 15 and the second water outlet pipe 16 to be in a vertical state;
step two: starting a driving motor 19 to drive a gear 21 to rotate, driving an outer gear ring 20 to rotate through the gear 21, and driving a first water outlet pipe 15 to rotate through the outer gear ring 20 until a free end pipe orifice of a second water outlet pipe 16 is in a horizontal backward state;
step three: starting an engine 11 to drive a pump jet propeller in a pump jet pipe 13 to rotate, wherein in the rotating process of the pump jet propeller, a water body enters a water inlet pipe 12 from a water inlet 14, then sequentially passes through the pump jet pipe 13, a first water outlet pipe 15 and a corrugated water outlet pipe 17, and is finally ejected out from a free end pipe orifice of a second water outlet pipe 16, and simultaneously, a tail pusher 4 is started, and the tail pusher 4 and the pump jet propeller 5 jointly provide thrust for forward movement of a platform;
fourthly, when the platform needs to move laterally
The method comprises the following steps: only the piston rod of the hydraulic drive cylinder 18 on the left side or the right side of the ship body 1 is controlled to extend, so that the first water outlet pipe 15 and the second water outlet pipe 16 are in a coaxial state;
step two: starting the engine 11 to drive the pump jet propeller in the pump jet pipe 13 to rotate, wherein in the rotating process of the pump jet propeller, a water body enters the water inlet pipe 12 from the water inlet 14, then sequentially passes through the pump jet pipe 13, the first water outlet pipe 15 and the corrugated water outlet pipe 17, and is finally ejected out from the free end pipe orifice of the second water outlet pipe 16, and the pump jet propeller 5 on the left side or the right side of the ship body 1 jointly provides thrust for the left or right movement of the platform;
fifthly, when the platform needs to turn on site
The method comprises the following steps: only the piston rods of the hydraulic drive cylinders 18 at the diagonal lines at the left and right sides of the ship body 1 are controlled to extend, so that the first water outlet pipe 15 and the second water outlet pipe 16 are in a coaxial state;
step two: the engine 11 is started to drive the pump jet propeller in the pump jet pipe 13 to rotate, in the rotating process of the pump jet propeller, water enters the water inlet pipe 12 from the water inlet 14, then sequentially passes through the pump jet pipe 13, the first water outlet pipe 15 and the corrugated water outlet pipe 17, and is finally sprayed out from the free end pipe orifice of the second water outlet pipe 16, lateral thrust is provided by the pump jet propellers 5 at the diagonal positions of the left side and the right side of the ship body 1, and in-situ turning of the platform is further achieved.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (5)
1. The utility model provides a second grade increases unmanned platform on water of steady formula which characterized in that: comprises a ship body, a deck, a stabilizer, a tail pusher and a pump jet propeller; the deck is positioned above the ship body, the deck is connected with the ship body through the stabilizer, the damping springs are arranged between the deck and the ship body, the number of the stabilizers is four, and the four stabilizers are uniformly distributed at four corners of the deck; the tail thrusters are arranged at the tail part of the ship body, the number of the tail thrusters is two, and the two tail thrusters are uniformly distributed on the left and right; the pump-jet propellers are positioned on the left side and the right side of the ship body, the number of the pump-jet propellers is four, and two pump-jet propellers are distributed on the left side and the right side of the ship body respectively; a horizontal sensor and a monitoring camera are arranged inside the deck; and a satellite navigator and a hydrological detector are arranged in the ship body.
2. The two-stage stability augmentation unmanned water platform of claim 1, wherein: the stabilizer comprises a hydraulic telescopic rod, a universal ball joint base, a universal ball joint lug seat and an adapter plate; the number of the hydraulic telescopic rods is three, and the number of the universal ball joint bases is three; the adapter plate is fixedly connected to the lower surface of the deck, and the universal ball joint lug is arranged on the lower surface of the adapter plate; the upper ends of the three hydraulic telescopic rods are connected to the universal ball joint lug seats, and the lower ends of the three hydraulic telescopic rods are connected with the upper surface of the ship body through universal ball joint bases respectively.
3. The two-stage stability augmentation unmanned water platform of claim 1, wherein: the pump jet propeller comprises an engine, a water inlet pipe, a pump jet pipe and a vector jet pipe assembly; the engine, the water inlet pipe and the pump spray pipe are all positioned in the ship body, a water inlet is formed in the bottom of the ship body, one end of the water inlet pipe is hermetically communicated with the water inlet, the other end of the water inlet pipe is hermetically communicated with the water inlet end of the pump spray pipe, and a pump spray propeller is arranged in the pump spray pipe; the engine is positioned above the water inlet pipe, and a power output shaft of the engine penetrates through the pipe wall of the water inlet pipe in a sealing manner to be connected with the pump jet propeller in the pump jet pipe; the vector spray pipe assembly comprises a first water outlet pipe, a second water outlet pipe, a corrugated water outlet pipe, a hydraulic driving cylinder and a driving motor; the first water outlet pipe penetrates through the side wall of the ship body in a sealing mode, the inner end of the first water outlet pipe is communicated with the water outlet end of the pump spray pipe in a sealing mode, and the first water outlet pipe has rotation freedom degree relative to the pump spray pipe; an outer gear ring is fixedly sleeved on the first water outlet pipe body on the inner side of the ship body, the driving motor is fixedly arranged on the outer surface of the pipe body of the pump spray pipe, a gear is fixedly arranged on a motor shaft of the driving motor, and the gear is meshed with the outer gear ring; the end part of the first water outlet pipe positioned outside the ship body is in sealed communication with one end of the corrugated water outlet pipe, the other end of the corrugated water outlet pipe is in sealed communication with one end of the second water outlet pipe, and the other end of the second water outlet pipe is a free end; one end of the hydraulic driving cylinder is hinged to the outer surface of the pipe body of the first water outlet pipe located on the outer side of the ship body, and the other end of the hydraulic driving cylinder is hinged to the outer surface of the pipe body of the second water outlet pipe.
4. The two-stage stability augmentation unmanned water platform of claim 1, wherein: four monitoring camera mounting grooves are uniformly distributed on the periphery of the deck, and a monitoring camera is arranged in each monitoring camera mounting groove; an electric lifting column is vertically arranged at the bottom of the monitoring camera mounting groove, a tripod head is arranged at the top of the electric lifting column, and the monitoring camera is mounted on the tripod head; and a sliding insertion type closing plate is arranged at the notch of the monitoring camera mounting groove.
5. The use method of the two-stage stability augmentation unmanned water platform of claim 1, wherein: the method comprises the following steps:
when the wind speed is low and the sea waves are small
The method comprises the following steps: detecting the levelness of the deck in real time through a level sensor;
step two: controlling a hydraulic telescopic rod in the stabilizer to perform telescopic action according to the levelness data so as to adjust the relative position of the deck and the ship body and further keep the deck in a dynamic level state;
② when the wind speed is higher and the sea wave is larger
The method comprises the following steps: controlling a piston rod of the hydraulic driving cylinder to retract, so that the first water outlet pipe and the second water outlet pipe are in a vertical state;
step two: starting a driving motor to drive a gear to rotate, driving an outer gear ring to rotate through the gear, and driving a first water outlet pipe to rotate through the outer gear ring until a pipe orifice at the free end of a second water outlet pipe is in a downward state;
step three: detecting the levelness of the deck in real time through a level sensor;
step four: starting an engine according to the levelness data to drive a pump spray propeller in a pump spray pipe to rotate, wherein in the rotating process of the pump spray propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump spray pipe, a first water outlet pipe and a corrugated water outlet pipe, and finally is sprayed out from a free end pipe orifice of a second water outlet pipe, and the relative horizontal position of a ship body is adjusted through the reaction force of water spraying;
step five: controlling a hydraulic telescopic rod in the stability augmentation device to perform telescopic action according to the levelness data so as to adjust the relative position of the deck and the ship body, and finally keeping the deck in a dynamic level under the action of secondary stability augmentation while adjusting the relative horizontal position of the ship body;
thirdly, when the platform needs to move forwards
The method comprises the following steps: controlling a piston rod of the hydraulic driving cylinder to retract, so that the first water outlet pipe and the second water outlet pipe are in a vertical state;
step two: starting a driving motor to drive a gear to rotate, driving an outer gear ring to rotate through the gear, and driving a first water outlet pipe to rotate through the outer gear ring until a pipe orifice at the free end of a second water outlet pipe is in a horizontal backward state;
step three: starting an engine to drive a pump jet propeller in a pump jet pipe to rotate, wherein in the rotating process of the pump jet propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump jet pipe, a first water outlet pipe and a corrugated water outlet pipe, and finally is sprayed out from a free end pipe orifice of a second water outlet pipe, and simultaneously starting a tail pusher, and the tail pusher and the pump jet propeller jointly provide thrust for forward movement of a platform;
fourthly, when the platform needs to move laterally
The method comprises the following steps: only controlling a piston rod of a hydraulic driving cylinder on the left side or the right side of the ship body to extend out, so that the first water outlet pipe and the second water outlet pipe are in a coaxial state;
step two: starting an engine to drive a pump spray propeller in a pump spray pipe to rotate, wherein in the rotating process of the pump spray propeller, a water body enters a water inlet pipe from a water inlet, then sequentially passes through the pump spray pipe, a first water outlet pipe and a corrugated water outlet pipe, and is finally sprayed out from a free end pipe orifice of a second water outlet pipe, and the pump spray propellers on the left side or the right side of a ship body jointly provide thrust for the left or right movement of a platform;
fifthly, when the platform needs to turn on site
The method comprises the following steps: only the piston rods of the hydraulic driving cylinders at the diagonal lines of the left side and the right side of the ship body are controlled to extend out, so that the first water outlet pipe and the second water outlet pipe are in a coaxial state;
step two: the engine is started to drive the pump jet propeller in the pump jet pipe to rotate, and in the rotating process of the pump jet propeller, water enters the water inlet pipe from the water inlet, then sequentially passes through the pump jet pipe, the first water outlet pipe and the corrugated water outlet pipe, and is finally sprayed out from the free end pipe orifice of the second water outlet pipe, and lateral thrust is provided by the pump jet propellers at the diagonal positions of the left side and the right side of the ship body together, so that the platform can be turned in place.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112504018A (en) * | 2020-11-05 | 2021-03-16 | 山东神鹰警用装备科技有限公司 | Boat type water sport target system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504018A (en) * | 2020-11-05 | 2021-03-16 | 山东神鹰警用装备科技有限公司 | Boat type water sport target system |
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Effective date of registration: 20240628 Address after: 201400 Building 1, No.1 Haikun Road, Fengxian District, Shanghai Applicant after: Shanghai Faraday Drive System Co.,Ltd. Country or region after: China Address before: 110136, Liaoning, Shenyang moral and Economic Development Zone, No. 37 South Avenue moral Applicant before: Ji Shude Country or region before: China |